Control method, device, equipment and storage medium for sliding frame of bridge construction machine

Abstract

The present application discloses a control method, device, electronic device and storage medium for the sliding frame of a bridge-building machine. The method includes: when it is detected that the bridge-building machine is in an operating state, obtaining the operating image of the bridge-building machine acquired by the image acquisition device, and identifying the sliding frame contained in the operating image; determining the center of gravity position of the sliding frame according to the position information of the sliding frame in the operating image; making a safety judgment based on the position information and the center of gravity position, determining the operating state of the bridge-building machine, and determining whether to adjust the sliding frame according to the operating state; when it is determined to adjust the sliding frame according to the operating state, adjusting and controlling the sliding frame based on the position information and the center of gravity position. In the operation process of the bridge-building machine, the center of gravity position of the sliding frame of the bridge-building machine is determined by analysis and processing, so as to adjust the sliding frame, thereby accurately judging the center of gravity position of the sliding frame and improving the accuracy of adjusting the sliding frame.

Description

Technical Field

[0001] The present application relates to the technical field of management and control of bridge-building machines, and in particular to a control method, device, electronic equipment and storage medium for a sliding frame of a bridge-building machine. Background Art

[0002] During the construction of the bridge machine, the sliding frame can be controlled to move forward or backward along the longitudinal direction of the cantilever beam by monitoring and controlling the oil cylinder and hook group. This function mainly controls the synchronous extension and retraction of the two oil cylinders, and coordinates the hook state to move forward or backward on the cantilever beam in a step-by-step manner according to the user-specified moving speed and moving distance.

[0003] However, in the actual control process, the movement data are entered in advance by professionals, and the operating status of the sliding frame of the bridge construction machine during the operation is unknown, such as the center of gravity position of the sliding frame, which may cause safety hazards due to the deviation of the center of gravity position.

[0004] Therefore, it is very necessary to improve the monitoring, judgment and adjustment accuracy of the sliding frame in the bridge-building machine. Summary of the invention

[0005] The purpose of the embodiments of the present application is to provide a control method, device, electronic device and storage medium for a sliding frame of a bridge-building machine, so as to solve the technical problems of inaccurate monitoring, judgment and adjustment of the sliding frame in the related art.

[0006] In a first aspect, an embodiment of the present application provides a method for controlling a sliding frame of a bridge construction machine, comprising:

[0007] When it is detected that the bridge-building machine is in an operating state, an operating image of the bridge-building machine acquired by an image acquisition device is acquired, and a sliding frame included in the operating image is identified;

[0008] Determining the center of gravity position of the sliding frame according to the position information of the sliding frame in the working image;

[0009] Perform safety judgment based on the position information and the center of gravity position, determine the operating state of the bridge-building machine, and determine whether to adjust the sliding frame according to the operating state;

[0010] When it is determined to adjust the sliding frame according to the operating state, the sliding frame is adjusted and controlled based on the position information and the center-of-gravity position.

[0011] In a second aspect, an embodiment of the present application provides a control device for a sliding frame of a bridge construction machine, comprising:

[0012] An image acquisition module is used to acquire an operating image of the bridge-building machine acquired by an image acquisition device when it is detected that the bridge-building machine is in an operating state, and to identify a sliding frame contained in the operating image;

[0013] A position determination module, used to determine the center of gravity position of the sliding frame according to the position information of the sliding frame in the working image;

[0014] A state analysis module, used to make a safety judgment based on the position information and the center of gravity position, determine the operating state of the bridge-building machine, and determine whether to adjust the sliding frame according to the operating state;

[0015] An adjustment control module is used to adjust and control the sliding frame based on the position information and the center of gravity position when it is determined that the sliding frame is to be adjusted according to the operating state.

[0016] In a third aspect, an embodiment of the present application provides an electronic device, comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps in the method for controlling a sliding frame of a bridge-building machine as described above when executing the computer program.

[0017] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the control method of the sliding frame of the bridge-building machine described in any one of the above items are implemented.

[0018] The embodiment of the present application provides a control method, device, electronic device and storage medium for the sliding frame of a bridge-building machine. During the operation of the bridge-building machine, an operation image containing the sliding frame of the bridge-building machine collected by an image acquisition device is obtained, and the sliding frame in the operation image is identified to obtain the position of the sliding frame in the operation image, and then the center of gravity position of the sliding frame is determined according to the obtained position information, and then a safety judgment is made according to the obtained position information and the center of gravity position to determine the operating state of the bridge-building machine, and then when it is determined according to the operating state that the sliding frame needs to be adjusted, the sliding frame is adjusted and controlled according to the position information and the center of gravity position. In the operation of the bridge-building machine, the center of gravity position of the sliding frame of the bridge-building machine is determined by analysis and processing, so that the sliding frame can be adjusted, and the center of gravity position of the sliding frame can be accurately judged, thereby improving the accuracy of adjusting the sliding frame. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a flow chart of a control method of a sliding frame of a bridge-building machine provided in an embodiment of the present application;

[0020] Figure 2 It is a flow chart of the steps of obtaining the center of gravity position of the sliding frame provided in an embodiment of the present application;

[0021] Figure 3 It is a schematic diagram of a structural block diagram of a bridge-building machine provided in an embodiment of the present application;

[0022] Figure 4 It is a flowchart of the steps of obtaining coordinate information provided in an embodiment of the present application;

[0023] Figure 5 This is a flowchart of the steps of obtaining the running status provided in the embodiment of the present application;

[0024] Figure 6 It is a structural schematic diagram of a control device for a sliding frame of a bridge-building machine provided in an embodiment of the present application;

[0025] Figure 7 is a structural schematic diagram of an electronic device provided in an embodiment of the present application;

[0026] Figure 8 This is another structural schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0028] It should be understood that the various steps described in the method embodiments of the present disclosure may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present disclosure is not limited in this respect.

[0029] The term "including" and its variations used herein are open inclusions, i.e., "including but not limited to". The term "based on" means "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". The relevant definitions of other terms will be given in the following description.

[0030] In the related technology, in the actual control process, the movement data is entered in advance by professionals, and the operating state of the sliding frame of the bridge construction machine during the operation is unknown, such as the center of gravity position of the sliding frame, which may cause safety hazards due to the deviation of the center of gravity position. Therefore, it is very necessary to improve the monitoring, judgment and adjustment accuracy of the sliding frame in the bridge construction machine.

[0031] In order to solve the technical problems existing in the related art, the present application embodiment provides a control method for the sliding frame of a bridge construction machine, see Figure 1 , Figure 1 It is a flow chart of a control method of a sliding frame of a bridge-building machine provided in an embodiment of the present application, and the method includes steps 101 to 104.

[0032] Step 101, when it is detected that the bridge-building machine is in an operating state, an operating image of the bridge-building machine acquired by an image acquisition device is acquired, and a sliding frame included in the operating image is identified.

[0033] In one embodiment, when the bridge-building machine is in operation, it is necessary to monitor the state and position of the sliding frame of the bridge-building machine in real time, so that timely adjustment can be performed to ensure that the bridge-building machine is in a safe operating state, which is mainly reflected in the sliding frame being in a safe operating position. Therefore, when the bridge-building machine is in operation, the operating image of the bridge-building machine is acquired in real time by using an image acquisition device, and the operating image at least includes the sliding frame, and then the sliding frame included in the operating image is identified through image analysis and processing, and the position of the sliding frame in the operating image is determined.

[0034] For example, a corresponding camera can be set on the construction side facing the bridge-building machine, and then the image of the movement of the sliding frame can be collected in real time during the sliding process of the sliding frame. Then, by analyzing and processing the image, the actual position of the sliding frame can be determined to determine whether timely adjustment is needed.

[0035] Step 102: Determine the center of gravity position of the sliding frame according to the position information of the sliding frame in the working image.

[0036] In one embodiment, when determining whether to control and adjust the sliding frame, the center of gravity position of the sliding frame is determined, and then whether the center of gravity position is a safe position is determined, and then timely adjustment is performed when it is determined to be unsafe. Therefore, after the operating image of the bridge construction machine is captured by the image acquisition device, the center of gravity position of the sliding frame is determined according to the position information of the sliding frame in the operating image.

[0037] For example, for the collected working image, the actual position of the sliding frame in the real world can be determined, for example, the relative position relationship is determined by the fixed position in the working image, and then the actual position of the sliding frame in the real world is determined. Therefore, when determining the center of gravity position of the sliding frame according to the position information, refer to Figure 2 , Figure 2 It is a flow chart of the steps of obtaining the center of gravity position of the sliding frame provided in an embodiment of the present application, wherein the steps include steps 201 to 203.

[0038] Step 201, based on the movement relationship of each part in the sliding frame of the bridge construction machine, the sliding frame is divided into several parts, and the quality information of each part is obtained;

[0039] Step 202, constructing a three-dimensional coordinate system based on the sliding frame, and determining the coordinate information of each part in the three-dimensional coordinate system according to the working image;

[0040] Step 203, obtaining the center of gravity information of the sliding frame according to the mass information and the coordinate information.

[0041] Specifically, when determining the center of gravity position of the sliding frame of the bridge construction machine, the sliding frame is partially divided into several small parts, and then the relevant information of each part is determined to obtain the center of gravity position of the entire sliding frame. Therefore, when processing, the sliding frame is first divided into several parts based on the movement relationship of each part of the sliding frame of the bridge construction machine, and the mass information of each divided part is obtained, and then the corresponding three-dimensional coordinate system is constructed based on the sliding frame to determine the coordinate information of each part in the three-dimensional coordinate system according to the working image, and then the center of gravity information of the sliding frame is obtained according to the obtained mass information and coordinate information.

[0042] For example, the sliding frame of the bridge-building machine may vary depending on the functions it has. For example, in bridge construction, the sliding frame of the bridge-building machine includes at least: a C-shaped frame that surrounds the concrete continuous beam downward, side formwork brackets arranged on the inner sides of the lower part of the C-shaped frame, sliding blocks and vertical legs. At this time, the bridge-building machine can be used as follows: Figure 3 As shown, Figure 3 This is a schematic diagram of a structural block diagram of a bridge-building machine provided in an embodiment of the present application, wherein the bridge-building machine comprises a main beam and a walking system (2), a sliding frame (3), a side mold adjustment system (4), a bottom mold platform system (5), a front suspension system (6) and an inner mold system (7).

[0043] The main beam and the walking system (2) include a walking track (202) laid on the poured concrete beam and a main beam (201) matched with the walking track (202) through a walking wheel box (203) at the bottom, the main beam (201) is provided with a vertical support (205) for supporting the ground when in place, and the front and rear sides of the walking track (202) are provided with a limit baffle (204) for preventing the walking wheel box (203) from falling out, and the walking wheel box (203) is driven by a motor and can be locked; the sliding frame (3) includes a C-shaped frame (301) that surrounds the concrete continuous beam downward, and side molds on the inner sides of the lower two sides of the C-shaped frame (301) The side mold adjusting system (4) comprises an adjusting oil cylinder (404) distributed on the side mold corbel (303), a side mold bottom support beam (403) connected and lifted by all the adjusting oil cylinders (404) on the same side, a side mold frame (402) arranged on the upper part of the side mold bottom support beam (403), and a side mold frame (402) arranged on the upper part and the inner side of the side mold frame (402). The template (401) and all the adjusting cylinders (404) on the same side work together to accurately adjust the posture of the side template (401); the bottom template platform system (5) includes a bottom template platform (502) located below the concrete continuous beam, a bottom template (501) laid on the bottom template platform (502), a front suspension cable (503) and a rear suspension cable (504) for suspending the front and rear sides of the bottom template platform (502) from both sides, a front suspension cylinder (505) and a rear suspension cylinder (506) for adjusting the height of the front suspension cable (503) and the rear suspension cable (504), and the front suspension cylinder (505) and the rear suspension cylinder (506) are respectively used to adjust the height of the front suspension cable (503) and the rear suspension cable (504). 6) is installed on the longitudinal beam between the C-shaped frames; the front suspension system (6) includes a front upper cross beam (601) installed at the front of the main beam (201), a front lower cross beam (604) located below the concrete continuous beam for supporting and adjusting the front position of the bottom mold platform (502), a steel sling (603) for suspending the front lower cross beam (604) along the line, and an adjustment top (602) for adjusting the height of the steel sling (603), the adjustment top (602) is installed on the front upper cross beam (601) and is driven by an intelligent hydraulic system and can be locked after automatically adjusting the elevation; the inner mold system (7) includes an inner guide beam (701) and an inner mold plate and bracket (702).

[0044] When the sliding frame is divided, the sliding frame is divided into several mass points, and then the center of gravity of the sliding frame is obtained by calculating the mass points. When the sliding frame is divided, the relatively fixed part can be taken as a whole, and the relatively moving part can be divided to obtain several parts of the sliding frame. Taking the above-mentioned bridge construction machine as an example, the divided parts can include C-shaped frame (301), side membrane bracket (303), sliding block (302) and vertical support leg (304), and the quality of each part is also known. Therefore, after the division, the quality information of each part is determined.

[0045] Then, a corresponding three-dimensional coordinate system is constructed based on the sliding frame, for example, based on the actual working environment and location, the origin of the coordinate system and the direction of the coordinate axis are determined to obtain a three-dimensional coordinate system containing the sliding frame. Then, when determining the coordinate information of each part in the three-dimensional coordinate system, the coordinate information is obtained by analyzing and processing the working image, and finally, the center of gravity information of the sliding frame in the three-dimensional coordinate system is obtained based on the obtained coordinate information and quality information.

[0046] Furthermore, when analyzing and processing the operation image to obtain the coordinate information of each part in the three-dimensional coordinates, it can be referred to Figure 4 , Figure 4 It is a flowchart of the steps of obtaining coordinate information provided in an embodiment of the present application, wherein the steps include steps 401 to 404.

[0047] Step 401, constructing a corresponding three-dimensional coordinate system based on the bridge-building machine, selecting a first fixed point and a second fixed point based on the working environment of the bridge-building machine, and determining a third fixed point and a fourth fixed point corresponding to the first fixed point and the second fixed point in the working image respectively;

[0048] Step 402, obtaining first vector values ​​of the first fixed point and the second fixed point, and obtaining second vector values ​​of the third fixed point and the fourth fixed point;

[0049] Step 403, in the operation image, determining the relative position relationship between each part and the third fixed point and the fourth fixed point;

[0050] Step 404: Obtain coordinate information of each part of the sliding frame in the three-dimensional coordinate system according to the first vector value, the second vector value and the relative position relationship.

[0051] Specifically, for the constructed three-dimensional coordinates, a fixed point can be selected in the real world where the bridge-building machine is located, and the position of the fixed point in the working image can be determined at the same time. Then, through the change of relative position, the actual position of each part in reality can be determined according to the working image, that is, the coordinate position in the three-dimensional coordinate system.

[0052] Exemplarily, based on the constructed three-dimensional coordinate system, a first fixed point and a second fixed point are selected in the working environment of the bridge construction machine, and the first fixed point and the second fixed point will always appear in the working image captured by the image acquisition device, and the third fixed point corresponding to the first fixed point and the fourth fixed point corresponding to the second fixed point are determined in the working image, and then the scaling relationship between the three-dimensional coordinate system and the working image is determined based on the first vector value calculated from the first fixed point and the second fixed point and the second vector value calculated from the third fixed point and the fourth fixed point. At the same time, the relative position relationship between each part and the third fixed point and the fourth fixed point is determined in the working image, and then the coordinate information in the three-dimensional coordinate system is determined.

[0053] In practical applications, each part is processed as a mass point, and then the mass points of all parts are used to calculate the center of gravity of the sliding frame. ), the calculation formula is as follows:

[0054] ;

[0055] ;

[0056] ;

[0057] in, It is When calculating the X-axis, Y-axis or Z-axis coordinates of the center of gravity, , , They are The X-axis, Y-axis or Z-axis coordinates of a particle, is the total number of particles.

[0058] For example, assuming there is a simple sliding frame, through analytical processing, the sliding frame can be divided into four mass points, and the mass and position information of each mass point are as follows:

[0059] Particle 1: Mass =1kg, position =(1,2,3);

[0060] Mass 2: Mass =2kg, position =(2,3,4);

[0061] Mass 3: Mass =3kg, position =(3,4,5);

[0062] Mass 4: Mass =4kg, position =(4,5,6);

[0063] At this time, using the center of gravity calculation formula, we can get:

[0064] =(1*1+2*2+3*3+4*4) / (1+2+3+4)=(1+4+9+16) / 10=30 / 10=3;

[0065] =(1*2+2*3+3*4+4*5) / (1+2+3+4)=(2+6+12+20) / 10=40 / 10=4;

[0066] =(1*3+2*4+3*5+4*6) / (1+2+3+4)=(3+8+15+24) / 10=50 / 10=5;

[0067] Therefore, the center of gravity of the sliding frame is ( )=(3,4,5).

[0068] Step 103, making a safety judgment based on the position information and the center of gravity position, determining the operating state of the bridge-building machine, and determining whether to adjust the sliding frame according to the operating state.

[0069] In one embodiment, when the sliding frame is controlled and adjusted, the purpose is to ensure that the bridge-building machine and the sliding frame are in a safe operating state. At the same time, when it is determined through analysis and processing that the sliding frame is currently in a dangerous state, adjustment processing can be carried out in time, so that the bridge-building machine in a dangerous state can be adjusted in time to ensure its safe operation. Therefore, after obtaining the position information and the center of gravity position, a safety judgment will be made based on the obtained position information and the center of gravity position to determine the operating state of the bridge-building machine, and whether to adjust and control the sliding frame is determined based on the operating state of the bridge-building machine.

[0070] Exemplarily, when making a safety judgment based on the position information and the center of gravity position, the judgment is made based on the coordinate position of each part and the center of gravity position of the sliding frame. In actual applications, the movement of each part in the sliding frame is usually limited, such as the interval of left and right sliding or the interval of front and back sliding, etc. When moving in a reasonable interval, the normal operation of each part can be guaranteed. Then, for the sliding frame as a whole, it is also necessary to ensure that the center of gravity of the whole is in a reasonable and safe position. Therefore, when making a safety judgment, the obtained coordinate position and center of gravity position can be compared with the corresponding set values ​​to determine the operating status of the bridge construction machine and the sliding frame. Then, when it is determined that there is a safety hazard, timely, effective and accurate adjustments can be made to ensure that the sliding frame and each part are operating in a reasonable state at all times.

[0071] Reference Figure 5 , Figure 5 It is a flowchart of the steps for obtaining the operating status provided in an embodiment of the present application, wherein the steps include steps 501 to 503.

[0072] Step 501, comparing the coordinate information with the corresponding coordinate boundary value to obtain the first interval information where the coordinate information is located;

[0073] Step 502, comparing the center of gravity position with the corresponding center of gravity boundary value to obtain the second interval information of the center of gravity position.

[0074] Step 503, determining the operating state of the bridge construction machine according to the first interval information and the second interval information, wherein the interval information includes a dangerous interval, a critical interval and a safe interval;

[0075] If the first interval information is a dangerous interval or the second interval information is a dangerous interval, determining that the operating state is a dangerous state;

[0076] If the first interval information is a critical interval and the second interval information is a critical interval or a safety interval, or the first interval information is a near-critical interval or a safety interval and the second interval information is a critical interval, determining that the operating state is a critical state;

[0077] If the first interval information and the second interval information are both safe intervals, it is determined that the running state is a safe state.

[0078] Specifically, corresponding to the coordinate positions of each part of the sliding frame and the center of gravity position of the sliding frame, there are corresponding boundary positions in the actual operation process, that is, the extreme positions reached. Therefore, in order to ensure the safe operation of the sliding frame, corresponding limit values ​​​​can be set for the coordinate positions of each part, as well as corresponding limit values ​​​​can be set for the center of gravity position to determine the actual state of the sliding frame during the operation process.

[0079] For example, for the center of gravity position of the sliding frame, the limit three-dimensional coordinates that the center of gravity position can reach can be set, and then a safety area of ​​the center of gravity position can be obtained. At the same time, in order to improve the timeliness and efficiency of adjustment, a critical area can be set based on the determined critical value to serve as a buffer for adjustment. Similarly, for the coordinate information of each part, the same method can be used to set and judge the interval, and then when making a judgment, the first interval information of the coordinate information of each part is determined, and the second interval information of the center of gravity position is determined.

[0080] For example, the boundaries are composed of (0,0,0), (0,8,0), (8,0,0), (8,8,0), (0,0,8), (0,8,8), (8,0,8) and (8,8,8), and the width of the danger zone is 1, and the width of the critical zone is 2. If the coordinate information at this time is (2,2,2), then the coordinate information is in the critical zone. If the coordinate information at this time is (5,5,5), then the coordinate information is in the safe zone. If the coordinate information at this time is (0.5, 0.5,0.5), then the coordinate information is in the danger zone.

[0081] When determining the operating state of the bridge-building machine, the first interval information and the second interval information obtained by the judgment are combined for judgment. When both are in the dangerous interval, the operating state is determined to be a dangerous state; when both are in the safe interval, it is determined to be a safe state; when at least one is in the critical interval and none are in the dangerous interval, it is determined to be a critical state. Then, in the actual adjustment process, whether to adjust and how to adjust are determined according to the operating state, specifically including: if the operating state is a dangerous state, a danger reminder is issued, and it is determined to adjust the sliding frame; if the operating state is a critical state, a prompt information is generated for feedback; if the operating state is a safe state, the steps are executed: the operating image of the bridge-building machine captured by the image acquisition device is obtained, and the sliding frame contained in the operating image is identified.

[0082] For example, when the operating state is a dangerous state, it is determined to be adjusted; when the operating state is a safe state, it is determined not to be adjusted, but step 101 is executed; when the operating state is a critical state, it is determined not to be adjusted, and the time cycle interval for obtaining the operation image is shortened.

[0083] Step 104 : When it is determined to adjust the sliding frame according to the operating state, the sliding frame is adjusted and controlled based on the position information and the center of gravity position.

[0084] In one embodiment, when it is determined to adjust the sliding frame according to the operating state, the sliding frame is adjusted and controlled according to the obtained position information and the center of gravity position. Specifically, when it is determined to adjust, an analysis is performed based on the current actual state and operation status of the sliding frame to determine a specific adjustment method, and then the sliding frame is adjusted according to the obtained adjustment method.

[0085] Exemplarily, when the sliding frame is adjusted, the sliding frame is mainly processed for sliding, such as sliding adjustment of one or some parts of the sliding frame. When performing the adjustment process, it will also be adjusted according to the actual working conditions, specifically including: when it is determined to adjust the sliding frame according to the operating state, the current working information of the bridge-building machine is obtained, and the working requirements of the current working information for the sliding frame are determined; according to the working requirements, the first interval information and the second interval information, the adjustment part is determined in the sliding frame, wherein the adjustment part is one or more parts of the several parts obtained by dividing the sliding frame; according to the working requirements, the coordinate information and the center of gravity position, the adjustment amount of the adjustment part is determined, and the adjustment process of the adjustment part is performed according to the adjustment amount.

[0086] Specifically, when performing adjustment processing, the current operation information of the bridge construction machine is obtained, and the operation requirements of the sliding frame to complete the current operation information are determined by analyzing and processing the current operation information. Then, based on the operation requirements, the first interval information and the second interval information, the adjustment part is determined in the sliding frame, wherein the adjustment part is one or more parts among several parts obtained by dividing the sliding frame. Finally, based on the operation requirements, coordinate information and center of gravity position, the adjustment amount of the adjustment part is determined, and then the adjustment part is adjusted according to the obtained adjustment amount to adjust the sliding frame to the target position.

[0087] In the actual processing process, when adjusting, the processing is based on the current operation information of the bridge-building machine, that is, during the adjustment process, the normal operation of the bridge-building machine is still maintained, and whether the bridge-building machine can execute the current operation information normally can be pre-judged, which can be automatic or manual. By analyzing the operation requirements of the sliding frame based on the current operation information, combined with the current state of the sliding frame, including coordinate information and center of gravity position, it is determined whether the current operation information can be completed safely. When it is determined that it can be completed safely, adjustment is made based on the operation requirements to ensure the normal execution of the bridge-building machine operation. When it cannot be completed safely, it is necessary to stop the execution of the current operation, and then adjust the sliding frame, and then execute the stopped operation after the adjustment is completed.

[0088] Furthermore, in the process of obtaining and determining the center of gravity position of the sliding frame based on the above method, the sliding frame can also be adjusted to a specific position according to actual needs. Specifically, when adjusting the sliding frame to a specific position, the specific position is first determined, such as a specific coordinate, and then analyzed in combination with the current state of the sliding frame to determine the adjustment amount of each part of the sliding frame, and the adjustment amount is within the reasonable adjustment range of each part, so that the center of gravity position of the sliding frame reaches the set specific position.

[0089] In summary, the present application discloses a control method for the sliding frame of a bridge-building machine. During the operation of the bridge-building machine, an operation image containing the sliding frame of the bridge-building machine collected by an image acquisition device is obtained, and the sliding frame in the operation image is identified to obtain the position of the sliding frame in the operation image, and then the center of gravity position of the sliding frame is determined based on the obtained position information, and then a safety judgment is made based on the obtained position information and the center of gravity position to determine the operating state of the bridge-building machine. When it is determined that the sliding frame needs to be adjusted based on the operating state, the sliding frame is adjusted and controlled based on the position information and the center of gravity position. In the operation of the bridge-building machine, the center of gravity position of the sliding frame of the bridge-building machine is determined by analysis and processing, so that the sliding frame can be adjusted, and the center of gravity position of the sliding frame can be accurately judged, thereby improving the accuracy of adjusting the sliding frame.

[0090] According to the method described in the above embodiment, this embodiment will be further described from the perspective of the control device of the sliding frame of the bridge building machine. The control device of the sliding frame of the bridge building machine can be implemented as an independent entity, or it can be integrated in an electronic device, such as a terminal. The terminal may include a mobile phone, a tablet computer, etc.

[0091] See also Figure 6 , Figure 6 Schematic diagram of a structure of a control device for a sliding frame of a bridge-building machine provided in an embodiment of the present application. Figure 6 As shown, the control device 600 of the sliding frame of the bridge construction machine provided in the embodiment of the present application includes:

[0092] The image acquisition module 601 is used to acquire the operating image of the bridge-building machine acquired by the image acquisition device when it is detected that the bridge-building machine is in an operating state, and to identify the sliding frame contained in the operating image;

[0093] A position determination module 602 is used to determine the center of gravity position of the sliding frame according to the position information of the sliding frame in the working image;

[0094] The state analysis module 603 is used to make a safety judgment based on the position information and the center of gravity position, determine the operating state of the bridge construction machine, and determine whether to adjust the sliding frame according to the operating state;

[0095] The adjustment control module 604 is used to adjust and control the sliding frame based on the position information and the center of gravity position when it is determined that the sliding frame is to be adjusted according to the operating state.

[0096] In one embodiment, the location determination module 602 is further configured to:

[0097] Based on the movement relationship of each part in the sliding frame of the bridge construction machine, the sliding frame is divided into several parts, and the quality information of each part is obtained;

[0098] Construct a three-dimensional coordinate system based on the sliding frame, and determine the coordinate information of each part in the three-dimensional coordinate system according to the working image;

[0099] According to the mass information and coordinate information, the center of gravity information of the sliding frame is obtained.

[0100] In one embodiment, the location determination module 602 is further configured to:

[0101] Constructing a corresponding three-dimensional coordinate system based on the bridge-building machine, selecting a first fixed point and a second fixed point based on the working environment of the bridge-building machine, and determining a third fixed point and a fourth fixed point corresponding to the first fixed point and the second fixed point in the working image respectively;

[0102] Obtaining first vector values ​​of the first fixed point and the second fixed point, and obtaining second vector values ​​of the third fixed point and the fourth fixed point;

[0103] In the operation image, determining a relative positional relationship between each part and the third fixed point and the fourth fixed point;

[0104] According to the first vector value, the second vector value and the relative position relationship, the coordinate information of each part in the sliding frame in the three-dimensional coordinate system is obtained.

[0105] In one embodiment, the location determination module 602 is further configured to:

[0106] Obtain a preset center of gravity calculation formula, and bring the coordinate system position information and mass information into the center of gravity calculation formula to calculate the center of gravity position of the sliding frame, wherein the center of gravity position is a three-dimensional coordinate in a three-dimensional coordinate system.

[0107] In one embodiment, the status analysis module 603 is further used to:

[0108] Compare the coordinate information with the corresponding coordinate boundary value to obtain the first interval information where the coordinate information is located;

[0109] Compare the center of gravity position with the corresponding center of gravity boundary value to obtain the second interval information of the center of gravity position;

[0110] Determine the operating state of the bridge construction machine according to the first interval information and the second interval information;

[0111] If the first interval information is a dangerous interval or the second interval information is a dangerous interval, determining that the operating state is a dangerous state, wherein the interval information includes a dangerous interval, a critical interval, and a safe interval;

[0112] If the first interval information is a critical interval and the second interval information is a critical interval or a safety interval, or the first interval information is a near-critical interval or a safety interval and the second interval information is a critical interval, determining that the operating state is a critical state;

[0113] If the first interval information and the second interval information are both safe intervals, it is determined that the running state is a safe state.

[0114] In one embodiment, the status analysis module 603 is further used to:

[0115] If the operating state is a dangerous state, a danger reminder is given and the sliding frame is determined to be adjusted;

[0116] If the running status is critical, a prompt message is generated for feedback;

[0117] If the operating state is a safe state, the steps are executed: obtaining the operating image of the bridge construction machine acquired by the image acquisition device, and identifying the sliding frame contained in the operating image.

[0118] In one embodiment, the adjustment control module 604 is further configured to:

[0119] When the sliding frame is adjusted according to the operating state, the current operation information of the bridge construction machine is obtained, and the operation requirements of the sliding frame by the current operation information are determined;

[0120] Determine an adjustment part in the sliding frame according to the operation requirement, the first interval information and the second interval information, wherein the adjustment part is one or more parts among the multiple parts obtained by dividing the sliding frame;

[0121] According to the operation requirements, coordinate information and the center of gravity position, the adjustment amount of the adjustment part is determined, and the adjustment part is adjusted according to the adjustment amount.

[0122] Also, see Figure 7 , Figure 7 is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application, and the electronic device may be a mobile terminal such as a smart phone, a tablet computer, or the like. Figure 7 As shown, the electronic device 700 includes a processor 701 and a memory 702. The processor 701 is electrically connected to the memory 702.

[0123] The processor 701 is the control center of the electronic device 700. It uses various interfaces and lines to connect various parts of the entire electronic device. It executes various functions of the electronic device 700 and processes data by running or loading applications stored in the memory 702 and calling data stored in the memory 702, thereby monitoring the electronic device 700 as a whole.

[0124] In this embodiment, the processor 701 in the electronic device 700 will load the instructions corresponding to the processes of one or more applications into the memory 702 according to the following steps, and the processor 701 will run the application stored in the memory 702, thereby implementing any step in the control method of the sliding frame of the bridge construction machine provided in the above embodiment.

[0125] The electronic device 700 can implement the steps in any embodiment of the control method for the sliding frame of the bridge-building machine provided in the embodiments of the present application. Therefore, it can achieve the beneficial effects that can be achieved by any method for controlling the sliding frame of the bridge-building machine provided in the embodiments of the present application. Please see the previous embodiments for details and will not be repeated here.

[0126] See also Figure 8 , Figure 8 is another structural schematic diagram of an electronic device provided in an embodiment of the present application, such as Figure 8 As shown, Figure 8 The specific structural block diagram of the electronic device provided in the embodiment of the present application is shown, and the electronic device can be used to implement the control method of the sliding frame of the bridge construction machine provided in the above embodiment. The electronic device 800 can be a mobile terminal such as a smart phone or a laptop computer.

[0127] The RF circuit 810 is used to receive and send electromagnetic waves, realize the mutual conversion between electromagnetic waves and electrical signals, and thus communicate with a communication network or other devices. The RF circuit 810 may include various existing circuit elements for performing these functions, such as antennas, radio frequency transceivers, digital signal processors, encryption / decryption chips, user identity module (SIM) cards, memories, etc. The RF circuit 810 can communicate with various networks such as the Internet, corporate intranets, wireless networks, or communicate with other devices through wireless networks. The above-mentioned wireless networks may include cellular telephone networks, wireless local area networks, or metropolitan area networks. The above-mentioned wireless networks may use various communication standards, protocols and technologies, including but not limited to Global System for Mobile Communication (GSM), Enhanced Data GSM Environment (EDGE), Wideband Code Division Multiple Access (WCDMA), Code Division Access (CDMA), Time Division Multiple Access (TDMA), Wireless Fidelity (Wi-Fi) (such as Institute of Electrical and Electronics Engineers standards IEEE 802.11a, IEEE 802.11b, IEEE802.11g and / or IEEE802.11n), Voice over Internet Protocol (VoIP), Worldwide Interoperability for Microwave Access (Wi-Max), other protocols for email, instant messaging and short messages, and any other suitable communication protocols, even those that have not yet been developed.

[0128] The memory 820 can be used to store software programs and modules, such as the program instructions / modules corresponding to the control method of the sliding frame of the bridge-building machine in the above-mentioned embodiment. The processor 880 executes various functional applications and the control method of the sliding frame of the bridge-building machine by running the software programs and modules stored in the memory 820.

[0129] The memory 820 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 820 may further include a memory remotely arranged relative to the processor 880, and these remote memories may be connected to the electronic device 800 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0130] The input unit 830 can be used to receive uploaded digital or character information, and generate keyboard, mouse, joystick, optical or trackball signal input related to user settings and function control. Specifically, the input unit 830 may include a touch-sensitive surface 831 and other input devices 832. The touch-sensitive surface 831, also known as a touch display screen or touchpad, can collect user touch operations on or near it (such as operations performed by users using fingers, styluses, or any other suitable objects or accessories on or near the touch-sensitive surface 831), and drive corresponding connection devices according to a pre-set program. Optionally, the touch-sensitive surface 831 may include a touch detection device and a touch controller. Among them, the touch detection device detects the user's touch orientation, detects the signal brought by the touch operation, and transmits the signal to the touch controller; the touch controller receives the touch information from the touch detection device, converts it into touch point coordinates, and then sends it to the processor 880, and can receive and execute commands sent by the processor 880. In addition, the touch-sensitive surface 831 can be implemented in various types such as resistive, capacitive, infrared, and surface acoustic wave. In addition to the touch-sensitive surface 831, the input unit 830 may further include other input devices 832. Specifically, the other input devices 832 may include, but are not limited to, one or more of a physical keyboard, function keys (such as volume control keys, switch keys, etc.), a trackball, a mouse, a joystick, and the like.

[0131] The display unit 840 can be used to display information input by the user or information provided to the user and various graphical user interfaces of the electronic device 800, which can be composed of graphics, text, icons, videos and any combination thereof. The display unit 840 may include a display panel 841, and optionally, the display panel 841 may be configured in the form of LCD (Liquid Crystal Display), OLED (Organic Light-Emitting Diode), etc. Further, the touch-sensitive surface 831 may cover the display panel 841, and when the touch-sensitive surface 831 detects a touch operation on or near it, it is transmitted to the processor 880 to determine the type of the touch event, and then the processor 880 provides corresponding visual output on the display panel 841 according to the type of the touch event. Although in the figure, the touch-sensitive surface 831 and the display panel 841 are implemented as two independent components to implement input and output functions, in some embodiments, the touch-sensitive surface 831 can be integrated with the display panel 841 to implement input and output functions.

[0132] The electronic device 800 may also include at least one sensor 850, such as a light sensor, a motion sensor, and other sensors. Specifically, the light sensor may include an ambient light sensor and a proximity sensor, wherein the ambient light sensor may adjust the brightness of the display panel 841 according to the brightness of the ambient light, and the proximity sensor may generate an interrupt when the flip cover is closed or closed. As a type of motion sensor, the gravity acceleration sensor can detect the magnitude of acceleration in each direction (generally three axes), and can detect the magnitude and direction of gravity when stationary. It can be used for applications that identify the posture of the mobile phone (such as horizontal and vertical screen switching, related games, magnetometer posture calibration), vibration recognition related functions (such as pedometer, tapping), etc.; as for other sensors such as gyroscopes, barometers, hygrometers, thermometers, infrared sensors, etc. that can also be configured in the electronic device 800, they will not be repeated here.

[0133] The audio circuit 860, the speaker 861, and the microphone 862 can provide an audio interface between the user and the electronic device 800. The audio circuit 860 can transmit the electrical signal converted from the received audio data to the speaker 861, which is converted into a sound signal for output; on the other hand, the microphone 862 converts the collected sound signal into an electrical signal, which is received by the audio circuit 860 and converted into audio data, and then the audio data is output to the processor 880 for processing, and then sent to another terminal through the RF circuit 810, or the audio data is output to the memory 820 for further processing. The audio circuit 860 may also include an earplug jack to provide communication between an external headset and the electronic device 800.

[0134] The electronic device 800 can help the user receive requests, send information, etc. through the transmission module 870 (such as a Wi-Fi module), which provides the user with wireless broadband Internet access. Although the transmission module 870 is shown in the figure, it can be understood that it is not a necessary component of the electronic device 800 and can be omitted as needed without changing the essence of the invention.

[0135] The processor 880 is the control center of the electronic device 800. It uses various interfaces and lines to connect various parts of the entire mobile phone. By running or executing software programs and / or modules stored in the memory 820, and calling data stored in the memory 820, it executes various functions of the electronic device 800 and processes data, thereby monitoring the electronic device as a whole. Optionally, the processor 880 may include one or more processing cores; in some embodiments, the processor 880 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, etc., and the modem processor mainly processes wireless communications. It can be understood that the above-mentioned modem processor may not be integrated into the processor 880.

[0136] The electronic device 800 also includes a power supply 890 (such as a battery) for supplying power to various components. In some embodiments, the power supply can be logically connected to the processor 880 through a power management system, so that the power management system can manage charging, discharging, and power consumption management. The power supply 890 can also include any components such as one or more DC or AC power supplies, recharging systems, power failure detection circuits, power converters or inverters, and power status indicators.

[0137] Although not shown, the electronic device 800 also includes a camera (such as a front camera, a rear camera), a Bluetooth module, etc., which will not be described in detail here. Specifically in this embodiment, the display unit of the electronic device is a touch screen display, and the mobile terminal also includes a memory, and one or more programs, wherein one or more programs are stored in the memory, and are configured to be executed by one or more processors to implement any step of the control method of the sliding frame of the bridge construction machine provided in the above embodiment.

[0138] In specific implementation, the above modules can be implemented as independent entities, or can be arbitrarily combined and implemented as the same or several entities. The specific implementation of the above modules can be found in the previous method embodiments, which will not be repeated here.

[0139] Those skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructions, or by controlling related hardware through instructions, and the instructions can be stored in a computer-readable storage medium and loaded and executed by a processor. To this end, an embodiment of the present application provides a storage medium, in which a plurality of instructions are stored, and when the instructions are executed by the processor, any step in the control method of the sliding frame of the bridge construction machine provided in the above embodiments can be implemented.

[0140] The storage medium may include: a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0141] Since the instructions stored in the storage medium can execute the steps in any embodiment of the control method for the sliding frame of the bridge-building machine provided in the embodiments of the present application, the beneficial effects that can be achieved by any method for controlling the sliding frame of the bridge-building machine provided in the embodiments of the present application can be achieved. Please see the previous embodiments for details and will not be repeated here.

[0142] The control method, device, electronic device and storage medium of the sliding frame of a bridge-building machine provided in the embodiment of the present application are introduced in detail above. The principle and implementation mode of the present application are explained in detail using specific examples herein. The description of the above embodiments is only used to help understand the method and core idea of ​​the present application. At the same time, for technicians in this field, according to the idea of ​​the present application, there will be changes in the specific implementation mode and application scope. In summary, the content of this specification should not be understood as limiting the present application. Moreover, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present application, and these improvements and modifications are also regarded as the protection scope of the present application.

Claims

1. A method for controlling a sliding frame of a bridge-building machine, characterized in that: include: When it is detected that the bridge-building machine is in an operating state, an operating image of the bridge-building machine acquired by an image acquisition device is acquired, and a sliding frame included in the operating image is identified; Determining the center of gravity position of the sliding frame according to the position information of the sliding frame in the working image; Perform safety judgment based on the position information and the center of gravity position, determine the operating state of the bridge-building machine, and determine whether to adjust the sliding frame according to the operating state; When it is determined to adjust the sliding frame according to the operating state, the sliding frame is adjusted and controlled based on the position information and the center of gravity position; The position information is coordinate information of each of the several parts obtained by dividing the sliding frame in a three-dimensional coordinate system constructed based on the sliding frame; The step of making a safety judgment based on the position information and the center of gravity position to determine the operating state of the bridge-building machine includes: Compare the coordinate information with the corresponding coordinate boundary value to obtain the first interval information where the coordinate information is located; Comparing the center of gravity position with the corresponding center of gravity boundary value to obtain the second interval information of the center of gravity position; Determining the operating state of the bridge-building machine according to the first interval information and the second interval information; If the first interval information is a dangerous interval or the second interval information is a dangerous interval, determining that the operating state is a dangerous state, wherein the interval information includes a dangerous interval, a critical interval, and a safe interval; If the first interval information is a critical interval and the second interval information is a critical interval or a safety interval, or if the first interval information is a critical interval or a safety interval and the second interval information is a critical interval, determining that the operating state is a critical state; If both the first interval information and the second interval information are safe intervals, it is determined that the operating state is a safe state.

2. The method according to claim 1, characterized in that The determining the center of gravity position of the sliding frame according to the position information of the sliding frame in the working image includes: Based on the movement relationship of each part in the sliding frame of the bridge construction machine, the sliding frame is divided into several parts, and the quality information of each part is obtained; constructing a three-dimensional coordinate system based on the sliding frame, and determining coordinate information of each part in the three-dimensional coordinate system according to the operation image; The center of gravity information of the sliding frame is obtained according to the mass information and the coordinate information.

3. The method according to claim 2, characterized in that The constructing of a three-dimensional coordinate system based on the sliding frame and determining coordinate information of each part in the three-dimensional coordinate system according to the operation image includes: Constructing a corresponding three-dimensional coordinate system based on the bridge-building machine, selecting a first fixed point and a second fixed point based on the working environment of the bridge-building machine, and determining a third fixed point and a fourth fixed point corresponding to the first fixed point and the second fixed point in the working image respectively; Obtaining first vector values ​​of the first fixed point and the second fixed point, and obtaining second vector values ​​of the third fixed point and the fourth fixed point; In the operation image, determining a relative positional relationship between each part and the third fixed point and the fourth fixed point; Coordinate information of each part of the sliding frame in the three-dimensional coordinate system is obtained according to the first vector value, the second vector value and the relative position relationship.

4. The method according to claim 3, characterized in that Calculating the center of gravity position of the sliding frame according to the position information includes: A pre-set center of gravity calculation formula is obtained, and the coordinate system position information and mass information are introduced into the center of gravity calculation formula to calculate the center of gravity position of the sliding frame, wherein the center of gravity position is a three-dimensional coordinate in the three-dimensional coordinate system.

5. The method according to claim 1, characterized in that The determining whether to adjust the sliding frame according to the operating state includes: If the operating state is a dangerous state, a danger reminder is given and the sliding frame is determined to be adjusted; If the operating state is a critical state, a prompt message is generated for feedback; If the operating state is a safe state, the steps are executed: acquiring the operating image of the bridge-building machine acquired by an image acquisition device, and identifying the sliding frame included in the operating image.

6. The method according to claim 1, characterized in that When it is determined according to the operating state that the sliding frame is to be adjusted, the sliding frame is adjusted and controlled based on the position information and the center of gravity position, including: When it is determined to adjust the sliding frame according to the operating state, current operation information of the bridge-building machine is obtained, and the operation requirements of the sliding frame by the current operation information are determined; Determine an adjustment part in the sliding frame according to the operation requirement, the first interval information and the second interval information, wherein the adjustment part is one or more parts among a plurality of parts obtained by dividing the sliding frame; According to the operation requirements, the coordinate information and the center of gravity position, an adjustment amount for the adjustment part is determined, and the adjustment part is adjusted according to the adjustment amount.

7. A control device for a sliding frame of a bridge-building machine, characterized in that: include: An image acquisition module is used to acquire an operating image of the bridge-building machine acquired by an image acquisition device when it is detected that the bridge-building machine is in an operating state, and to identify a sliding frame contained in the operating image; a position determination module, configured to determine the center of gravity of the sliding frame according to position information of the sliding frame in the working image, wherein the position information is coordinate information of each of a plurality of parts obtained by dividing the sliding frame in a three-dimensional coordinate system constructed based on the sliding frame; A state analysis module, used to make a safety judgment based on the position information and the center of gravity position, determine the operating state of the bridge-building machine, and determine whether to adjust the sliding frame according to the operating state; an adjustment control module, configured to, when it is determined according to the operating state that the sliding frame is to be adjusted, perform adjustment control on the sliding frame based on the position information and the center of gravity position; The state analysis module is also used for: Compare the coordinate information with the corresponding coordinate boundary value to obtain the first interval information where the coordinate information is located; Comparing the center of gravity position with the corresponding center of gravity boundary value to obtain the second interval information of the center of gravity position; Determining the operating state of the bridge-building machine according to the first interval information and the second interval information; If the first interval information is a dangerous interval or the second interval information is a dangerous interval, determining that the operating state is a dangerous state, wherein the interval information includes a dangerous interval, a critical interval, and a safe interval; If the first interval information is a critical interval and the second interval information is a critical interval or a safety interval, or if the first interval information is a critical interval or a safety interval and the second interval information is a critical interval, determining that the operating state is a critical state; If both the first interval information and the second interval information are safe intervals, it is determined that the operating state is a safe state.

8. An electronic device, characterized in that: The electronic device comprises a processor, a memory, and a computer program stored in the memory and executable on the processor, and the processor implements the steps in the method according to any one of claims 1 to 6 when executing the computer program.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in the method according to any one of claims 1 to 6 are implemented.

Images